Class NodeFactory

Inheritance Relationships

Derived Type

Class Documentation

class NodeFactory

The NodeFactory interface is used by the class loader to instantiate components.

The NodeFactory interface serves two purposes:

  • It allows for classes not derived from rclcpp::Node to be used as components.

  • It allows derived constructors to be called when components are loaded.

Subclassed by rclcpp_components::NodeFactoryTemplate< NodeT >

Public Functions

NodeFactory() = default
virtual ~NodeFactory() = default
virtual NodeInstanceWrapper create_node_instance(const rclcpp::NodeOptions &options) = 0

Create an instance of a component.


options[in] Additional options used in the construction of the component.